Abstract
At present, most vascular intervention surgical robots (VISRs) cannot achieve effective force feedback and lack regulation of the clamping force of the guidewire. In this paper, a VISR based on force feedback and clamping force regulation is proposed. It is a master–slave system consisting of a master manipulator that is flexible enough and a slave wire feeder that can deliver the guidewire. Accurate force feedback is established to ensure the safety of the operation, and the clamping force of the guidewire can be regulated in real time. Based on the dynamic analysis of the mechanism, the control scheme of the system is designed. The two-dimensional fuzzy PID (Proportion Integration Differentiation) controller is equipped with on-line tuning parameters and anti-interference capabilities. The sine and step signals are selected to carry out simulation analysis on the controller. The performance of the designed VISR was verified by a force feedback experiment, a clamping force regulation experiment and a vascular model experiment.
Highlights
Vascular interventional surgery means that under the guidance of medical imaging, the doctor manipulates the catheter or guidewire into the human blood vessel through a small wound and moves to the lesion for treatment, so as to embolize the malformed blood vessel, dissolve the thrombus, dilate the narrow blood vessel and so on [1,2,3].doctors who have been exposed to radiation for a long time cannot completely eliminate radiation hazards, even if they wear radiation-proof lead clothing [4,5], and heavy protective clothing will bring doctors cervical or lumbar pain [6]
When the guidewire tip touches the blood vessel and is subjected to force, the resistance detection mechanism will amplify the force through the lever subjected to force, the resistance detection mechanism will amplify the force through the jected to force, the resistance detection mechanism will amplify the force through the lever principle and convert it into positive pressure against against the resistance sensor (MDL: lever principle and convert it into positive pressure the resistance sensorSBT674(MDL: principle and convert it into positive pressure against the resistance sensor (MDL: SBT6745 kg, Simbatouch, Guangzhou, CN)
In order to verify the performance of the designed vascular intervention surgical robots (VISRs), first, the anti-interference ability of the fuzzy PID controller was analyzed through experimentation
Summary
Vascular interventional surgery means that under the guidance of medical imaging, the doctor manipulates the catheter or guidewire into the human blood vessel through a small wound and moves to the lesion for treatment, so as to embolize the malformed blood vessel, dissolve the thrombus, dilate the narrow blood vessel and so on [1,2,3]. Some agencies use commercial master manipulators, such as the Geomagic Touch X system developed by 3D Systems, which is not flexible enough for vascular intervention surgery and is not in accordance with traditional surgical operations [27]. When the VISR is used for surgery, there are two methods for clamping the catheter or guidewire: rolling transmission with a friction wheel [28] and reciprocating propulsion with a sliding platform [29] Neither of these two methods are able to perform flexible clamping on the catheter or guidewire; that is, the doctor cannot sense the clamping force in real time and adjust it. Flexible clamping of the catheter or guidewire is critical, but few researchers have conducted research based on flexible clamping In light of these problems, a novel vascular intervention surgical robot (VISR) based on force feedback and flexible clamping was designed.
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